Stable flocking of mobile agents, part I: fixed topology

@article{Tanner2003StableFO,
  title={Stable flocking of mobile agents, part I: fixed topology},
  author={H. Tanner and A. Jadbabaie and George J. Pappas},
  journal={42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)},
  year={2003},
  volume={2},
  pages={2010-2015 Vol.2}
}
This is the first of a two-part paper that investigates the stability properties of a system of multiple mobile agents with double integrator dynamics. In this first part we generate stable flocking motion for the group using a coordination control scheme which gives rise to smooth control laws for the agents. These control laws are a combination of attractive/repulsive and alignment forces, ensuring collision avoidance and cohesion of the group and an aggregate motion along a common heading… Expand
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